A terminal conformal module

Abstract

The invention discloses a terminal conforming module, which solves the problem of poor conforming ability of the existing robot terminal system in the prior art, and has the advantages of compact installation, conforming movement in X and Y directions, and full freedom of swing compliance. The effect, the specific scheme is as follows: a terminal follow-up module, including a pendulum body, an XY compliance mechanism, a swing compliance mechanism, and an automatic centering mechanism, the pendulum body is coaxial with at least one set of XY compliance mechanisms and at least one set of swing compliance mechanisms Setting, the pendulum body is set between the XY compliance mechanism and the swing compliance mechanism, and supports the XY compliance mechanism and the swing compliance mechanism, the XY compliance mechanism can realize the compliance movement in the X direction and the Y direction, and the swing compliance mechanism can drive the pendulum body around The center of the swing ball realizes the swing, and the bottom end of the pendulum body is provided with a circular arc surface, which is used as an auxiliary track for swing compliance. The center of the auxiliary track coincides with the swing center of the swing compliance mechanism. the lower end of.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a shape-compliant terminal module. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] In recent years, with the development of production and the continuous improvement of automation, robots and related technologies have developed rapidly, especially robots have been widely used in the field of manufacturing, and have shown the superior characteristics of high efficiency, safety and stability. In the field of mechanical manufacturing and assembly applications, the dimensional accuracy requirements of equipment components and overall assembly are continuously improving, as well as the requirements for full-position high-precision assembly. Robots play an important role in assembly production lines. [0004] With the improvement of industrial produc...

AI Technical Summary

Problems solved by technology

[0005] Existing robotic actuators and robot arm operating methods are completely structured, lack conformal control capabilities, compensate for the end effector, and the pose state of the robot end cannot be detected in real time, and the lack of a feedback mechanism makes the assembly accuracy of the current workpiece The error is large, the automation efficiency is low, and it is difficult to complete complex connections and assemblies in a changing environment. It often occurs that workpieces with complex shapes cannot be installed. The existing robot terminal device has a small locking force and cannot assemble large parts. According to different assembly work objects, a large range of conformal adjustments are made to the end effector of the robot to improve the assembly accuracy of the robot to the workpiece

[0006] To sum up, the inventors found that the existing robots have deficiencies in the assembly technology of parts, the repeated positioning accuracy is not high, the stability of the end system of the robot is poor, the ability to conform to the shape of the parts is poor, and the end response speed of the end effector of the robot Slow, small conforming range and low precision, the assembly accuracy of the workpiece cannot be guaranteed, the existing robot end locking device has a small locking force, can only clamp small and medium-sized parts, and it is difficult to realize the automatic assembly of large parts

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